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Max 2021-10-04 11:37:21 +01:00
parent 8187179ae6
commit 876afa05b7
1 changed files with 16 additions and 5 deletions
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21
Control/Jetson/main.py
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@ -24,15 +24,16 @@ from pallet_hole_alignment_c import HoleAligner
# subprocess.run(["route", "-n"]) # subprocess.run(["route", "-n"])
DO_ZERO = True DO_ZERO = True
DO_GPS_THERE = True DO_GPS_THERE = False
DO_GOTO_TARGET_HEADING = True DO_GOTO_TARGET_HEADING = False
DO_VISION_APPROACH = True DO_VISION_APPROACH = True
DO_FORK_ALIGN = True DO_FORK_ALIGN = True
DO_PICKUP_CARGO = True DO_PICKUP_CARGO = True
DO_REVERSE_TURN = True DO_REVERSE_TURN = True
DO_GPS_RETURN = True DO_GPS_RETURN = False
DO_FAKE_FORWARD = True
DO_DROPOFF_CARGO = True DO_DROPOFF_CARGO = True
DO_RETURN_TO_NEUTRAL = True DO_RETURN_TO_NEUTRAL = False
DO_LOOP = True DO_LOOP = True
@ -80,7 +81,7 @@ def __go_to_gps(vehicle_ctrl, lat: float, lon: float):
executor_logger.info(f'We are in radius ({distance})') executor_logger.info(f'We are in radius ({distance})')
return True return True
else: else:
executor_logger.critical(f"5 minuted have elapsed and we are not in the target area ({distance}), aborting") executor_logger.critical(f"5 minutes have elapsed and we are not in the target area ({distance}), aborting")
return False return False
def __go_to_cargo_vision(vision_system): def __go_to_cargo_vision(vision_system):
@ -114,6 +115,13 @@ def __reverse_turn(vehicle_ctrl):
return True return True
def __fake_forward(vehicle_ctrl):
executor_logger.info(f"moving forward 10s")
vehicle_ctrl.nudge_drive(True, 6)
vehicle_ctrl.nudge_drive(True, 6)
return True
#--- <Pseudoprivate methods #--- <Pseudoprivate methods
@ -206,6 +214,9 @@ def queue_executor_thread():
else: else:
executor_logger.warning("DO_REVERSE_TURN flag is false, skipping reverse turn") executor_logger.warning("DO_REVERSE_TURN flag is false, skipping reverse turn")
if DO_FAKE_FORWARD:
__fake_forward(FORKLIFT)
if DO_GPS_RETURN: if DO_GPS_RETURN:
FORKLIFT.set_state("NAVIGATING_TO_POINT_GPS") FORKLIFT.set_state("NAVIGATING_TO_POINT_GPS")